1. The State Key Laboratory of Robotics and Systems, Robotics Institute;, Center for Precision Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150080, China
2. The State Key Laboratory of Robotics and Systems, Robotics Institute; Center for Precision Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150080, China
3. Center for Precision Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China
4. Centre for Precision Manufacturing;, Department of Design, Manufacture and Engineering Management, University of Strathclyde, Glasgow G11XQ, UK